tested front sonar and adjusted motor speeds, added basic West-South-East
added rear sonar and began improvement of hardLeft turns
testing front sonar
testing speed range of new motors
adjusted the speeds
reorganized tests, backups and main apps, including Processing simulation
added one more file to Processing files
adjusted front_sensor directories
tested UM6 orientation sensor - outputs coordinates but not correct degrees
modified sonars to operate only when pin 4 pulled high, improves consistency of readings almost completely
continued testing at various angles of side sonars
updated sonar code pin 4 on/off, removed slow sonar loops, tested parallel movement
improved hardLeft turning
imported Processing simulation code into main Arduino code
started to test robot with the imported Processing code
modified hardLeft using sideSonars, inserted timing tests
reduced speeds and used rear sonar for goNorth from south
changed distance from wall, set up regular recalibration of hardLeft

robot completed full simulated delivery of all blocks
added more rear sonar checks, timing checks, added soften to hardLeft, adjusted distances, made setCm functions

softening hard left turns to prevent hitting blocks with rear caster,
moving front and rear sonar checks to functions, hard left turns now use
a timeRef for calibration
set up tests for front and rear sonars, found minimum distances

getting closer than 17cm generates readings higher than 29cm